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f71dad5344
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feat(arch): migrate all STM32/Mamba/BlackPill refs to ESP32 BALANCE/IO + fix roslib@1.4.0
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill
replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms).
- Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget,
wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose
- Update all ROS2 package comments, config labels, launch args
(stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge)
- Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version,
"STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel)
- Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py
binary frame layouts — pending ESP32 protocol spec from max
- Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble
rosbridge "Received a message without an op" incompatibility)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 08:25:24 -04:00 |
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fe979fdd1f
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feat: CAN sensor remote monitor panel (Issue #681)
Adds standalone vanilla JS/HTML/CSS panel for live CAN sensor monitoring:
- can_monitor_panel.html: 5-card dashboard grid with VESC L/R, Balance,
IMU Attitude (span-2), and Barometer cards
- can_monitor_panel.css: dark-theme styles matching existing panel suite;
bidirectional bars, live-dot flash, stat-grid, responsive layout
- can_monitor_panel.js: rosbridge subscriptions to
/vesc/left/state + /vesc/right/state (RPM bidir bar, current gauge,
voltage/duty/temp stats, fault badge, stale detection)
/saltybot/imu (quaternion→Euler, angular vel, lin accel, cal badge
from orientation_covariance[0], canvas artificial horizon + compass)
/saltybot/balance_state (state badge, motor_cmd bidir bar, PID grid)
/saltybot/barometer (altitude, pressure, temp)
Auto-connect from localStorage, 1 Hz stale checker, msg rate display
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-03-18 08:09:03 -04:00 |
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